/Ball-and-Beam-Control-using-State-Feedback-Controller-Observer-and-descrete-Controller

Primary LanguageMATLAB

Ball and Beam Control Using State-Feedback Controller, Observer and descrete Controller

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With this matlab files you able to Control Ball and Beam with Linear state-feedback Controller, Observer and descrete Controller

Functions:

Linearization and transfer to State-Space: State_Space()

Create Animation: Animate_BaB()

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Controller:

1- State Feedback Control with Animation: Ctrlr_BaB.m

2- Servo Integrator for tracking desired trajectory: Servo_Integrator_BaB.m

3- Servo feed-forward for tracking desired trajectory: Servo_FeedForward_BaB.m

4- LQR(Optimal State Feedback Control): LQR_BaB.m

Observer:

1- Observer: Observer_BaB.m

2- Servo Integrator with Observer: Servo_Integrator_Observer.m

3- Servo feed-forward with Observer: Servo_FeedForward_Observer.m

4- Minimum Order Observer: Min_Order_Observer_BaB.m

Continuous Control Report

Digital(descrete) Controller:

1- digital linear State-Feedback controller: digit_Ctrlr_BaB.m

2- digital Servo Integrator: digit_Integrator_BaB.m

3- digital Servo feed-forward: digit_FeedForward_BaB.m

4- digital Observer: digit_Observer_BaB.m

Digital Control Report